Electronic steering of a mobile robot for wall following and obstacle avoidance

Robots, including mobile robots, provide many services in military, industrial and space applications. They shorten time, reduce expenses, and reduce danger to humans in places that may pose a threat to human life. Although the use of mobile robots in civil applications is few, it is in an increasing growth. Such as using it to transport goods in small neighbourhoods or to clean streets. Most of the algorithms in robot navigation are wall or path tracking through conventional sensors directly or through optical or physical sensors. Mobile robots are of different types, and these types depend on the number of wheels and the way they are distributed and directed to add to the robot the number of degrees of freedom. One of the problems facing the mobile robot is the multitasking of self-driving, such as tracking a path and discovering and avoiding an obstacle. Multi-tasking caused confusion for the mobile robot, as its processing of one task in tracking the wall makes it deal with the distance from the wall as a reference point to keep it in the alignment position regardless of the speed of its wheels or the angle of deviation of the wall from it. This process requires the provision of many additional data to enable it to perform the task. This research presents the design and construction of a mobile robot that tracks the wall, analyses the obstacles, and then takes action. The work is to build a mathematical model and calculate the mathematical effects on all the available information from the sensors measuring distance and freedom, speed and real time information. The idea entered on separating the robot programmatically into two parts. The first part is a mobile robot that has electronic guidance based on speed sensors connected to the front wheels, which are included as part of a closed control system to control the speed of the wheels accurately. At the end, this robot can walk straight for a distance that can be determined and implement deviations at a specific angle with the given value, as well as it can walk in the form of a square, triangle, and circular as well as it can walk on an inclined road up or down without decreasing or increasing its speed. This method makes the mobile robot more flexible. As for the second part, it is measuring the angle of deflection of the wall and exploring obstacles by measuring the distances surrounding the robot at an angle of 90 degrees. The deflection angle of the wall is calculated using an algorithm that depend